@inbook {Yoerger1985,
	title = {{Demonstration of closed-loop trajectory control of an underwater vehicle}},
	booktitle = {Oceans {\textquoteright}85 Conference Record : Ocean Engineering and the Environment},
	volume = {2},
	year = {1985},
	pages = {1028{\textendash}1033},
	publisher = {IEEE},
	organization = {IEEE},
	address = {New York, N.Y.},
	doi = {10.1109/OCEANS.1985.1160174},
	url = {http://dx.doi.org/10.1109/OCEANS.1985.1160174},
	author = {Yoerger, D R and Newman, J B}
}
